JP5908544B2 - Robot program generation device for generating a robot program for reducing drive shaft jerk - Google Patents

Description

  The present invention relates to a robot program generation device that generates a robot program for operating a robot.

  In a robot system used to transport an object by a robot, it is desired to operate the robot at a high speed in order to improve processing efficiency. However, if the speed of the robot operation is simply increased, the object may be damaged when the robot grips or releases the object. In addition, there is a risk that the robot may drop the object in the middle of conveyance. For this reason, when the object is damaged or dropped, the operator has to change the robot program.

  For example, when interpolation processing is performed on a speed profile, etc., the input profile is smoothed by interposing a low-pass filter, thereby making the change of jerk gentle and smoothing the robot operation. Robot path planning methods are known (see Patent Document 1 and Patent Document 2).

JP 2003-241811 A Japanese Patent Laid-Open No. 11-249724

  However, even if the interpolation path is adjusted to smooth the operation of the robot, the vibration of the robot is not always suppressed when the robot is operated at high speed. Therefore, in practice, it is necessary for the operator to change the robot program through trial and error. Therefore, there is a need for a technique that more easily and reliably reduces drive shaft jerk, which is one of the causes of vibration.

According to a first aspect of the present invention, there is provided a robot program generation device for generating a robot program for operating a robot having a plurality of joints, wherein a jerk tolerance is set for a drive axis of each joint of the robot. An allowable value setting unit, an axis information calculation unit that simulates execution of a robot program in a virtual space, and calculates the position and jerk of the drive axis in association with time, and the axis information calculation unit calculates the axis A jerk determination unit that determines whether or not jerk is an excess jerk that exceeds the allowable value, an axis information identification unit that identifies a drive shaft where the excess jerk has occurred, and a position of the drive shaft, and the axis information identification unit In the vicinity of the position of the drive shaft where the excess jerk has occurred so that the identified jerk of the drive shaft is below the allowable value And a robot program adjusting unit for adjusting the robot program by changing the teaching point, the robot program generating device is provided.
According to a second invention of the present application, in the robot program generation device according to the first invention, the robot program adjustment unit divides a space in the vicinity of the position of the drive shaft where the excess jerk has occurred into a grid pattern. The teaching points are changed so as to coincide with the lattice point with the smallest jerk among the lattice points formed in this manner.
According to a third invention of the present application, in the robot program generation device according to the first invention, the robot program adjusting unit reduces the amount of change in jerk with respect to time in the drive shaft where the excess jerk has occurred. The teaching point is changed.
According to a fourth invention of the present application, in the robot program generation device according to any one of the first to third inventions, the robot and a three-dimensional model of an object existing around the robot are respectively stored in the virtual space. And an interference determination unit that determines whether or not the robot and the object interfere with each other during the simulation, and the robot program adjustment unit prevents interference between the robot and the object. To change the teaching point.
According to a fifth invention of the present application, in the robot program generation device according to any one of the first to fourth inventions, the robot program generation device further includes an operation time calculation unit that calculates an operation time required to execute the robot program. The robot program adjustment unit changes the teaching point so that the operation time is shortened.
According to a sixth invention of the present application, in the robot program generation device according to any one of the first to fifth inventions, an update determination unit that determines whether or not the robot program can be updated in the robot; The program further includes a program transmission unit that transmits the robot program generated by the robot program generation device to the robot, and the program transmission unit, when the update determination unit determines that the robot program can be updated, A robot program is transmitted to the robot.

  These and other objects, features and advantages of the present invention will become more apparent by referring to the detailed description of the exemplary embodiments of the present invention shown in the accompanying drawings.

  According to the robot program generation device of the present invention, when an excess jerk exceeding an allowable value occurs, the robot program adjustment unit changes the teaching point for the drive axis where the excess jerk has occurred, thereby reducing the jerk. . As a result, jerk that causes vibration during robot operation is reduced, and the robot can be operated at high speed and safely.

It is a figure which shows the structure of the robot system containing a robot program production | generation apparatus. It is an example of a display of the robot model arrange | positioned in virtual space. It is a functional block diagram of the robot program generation device concerning one embodiment. It is a flowchart which shows the process performed by the robot program production | generation apparatus which concerns on one Embodiment. It is a figure which shows the operation | movement path | route formed according to a teaching point and a teaching point, and the generation | occurrence | production area of an excess jerk. It is a figure which shows the change range of a teaching point. It is a figure which shows the state which divided | segmented the cylindrical space of FIG. 6 in the grid | lattice form. It is a figure which shows the teaching point before a change and the teaching point after a change. It is a functional block diagram of the robot program generation device concerning another embodiment. It is a figure which shows the state in which the robot model and the interference object model mutually overlap. It is a functional block diagram of the robot program generation device concerning another embodiment. FIG. 12 is a diagram illustrating an example of a second change teaching point and a third change teaching point in the robot program generation device of FIG. 11. It is a functional block diagram of the robot program generation device concerning another embodiment. It is a flowchart which shows the process of updating the robot program performed in the robot program production | generation apparatus of FIG.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. The illustrated components are appropriately scaled to assist in understanding the present invention. The same reference numerals are used for the same or corresponding components.

  FIG. 1 shows a configuration example of the robot system 1. The robot system 1 is used to sequentially convey a plurality of objects 3 (for example, workpieces) to a predetermined position using, for example, a robot 2. The robot 2 is, for example, a vertical articulated robot having a hand 7 at the tip of an arm. For example, the objects 3 are stacked in a container 4, held by the hand 7 of the robot 2, and sequentially taken out from the container 4. The robot system 1 further includes a computer 5 that controls a servo motor that drives a drive shaft of each joint of the robot 2.

  The computer 5 functions as a control device that controls the robot 2 in cooperation with a visual sensor (not shown) used to detect the position and posture of the object 3 online. The computer 5 may have a function as a control device of the visual sensor and a function as an image processing device that processes an image captured by the camera. In addition, the computer 5 functions as a robot program generation device 10 that generates a robot program by simulating the operation of the robot 2 in a virtual space when offline. The computer 5 is a digital computer including a CPU, a ROM, a RAM, and an interface for transmitting / receiving data and signals to / from an external device connected to each other via a bus. For example, a monitor such as a liquid crystal display, an input device such as a mouse and a keyboard, and other external devices are connected to the computer 5. Hereinafter, a robot program generation apparatus 10 that generates a robot program according to an embodiment of the present invention will be described.

  As described above, the robot program generation device 10 has a function of simulating the operation of the robot 2 in the virtual space. When executing the simulation, the robot program generation device 10 arranges a shape model in which each related component is expressed in a three-dimensional space in the virtual space. FIG. 2 shows an example of the virtual space 8 displayed on the monitor 6 connected to the robot program generation device 10. In the virtual space 8, a robot model 2M, an object model 3M, and a container model 4M that represent the robot 2, the object 3, and the container 4 by a three-dimensional model are arranged. The operator can confirm the positional relationship of each model in the three-dimensional space by operating the input device and changing the viewpoint.

  The model used for the simulation is an approximate model that can obtain the necessary accuracy with respect to dynamics and vibration. The approximate model may be a rigid model that considers only the mechanism, or may be an elasto-plastic model that considers the load on the hand, the deflection of the mechanism, and the action of gravity in addition to the mechanism. The approximate model is a robot system that obtains the position of the robot's hand from the position of the drive axis obtained from the angle sensor applied to the servo motor, and conversely, the robot system that obtains the position of the drive axis from the position of the robot's hand. It may be possible to handle both.

  FIG. 3 shows a functional block diagram of the robot program generation device 10. When the robot 2 operates according to a predetermined robot program, the robot program generation device 10 causes the drive shaft jerk (the amount of change in acceleration per unit time) provided at each joint to be equal to or less than a predetermined allowable value. The robot program has a function to adjust the robot program by changing the teaching point for the drive axis. As illustrated, the robot program generation device 10 includes an allowable value setting unit 11, an axis information calculation unit 12, a jerk determination unit 13, an axis information identification unit 14, and a robot program adjustment unit 15. It is provided as a configuration.

  The allowable value setting unit 11 sets a jerk allowable value for each drive shaft of the robot 2. The allowable value of jerk is, for example, a value specified by the manufacturer of the robot 2, for example, a value described in the specifications of the robot 2. Alternatively, the robot may be operated according to the test operation program, and the allowable value may be obtained based on the jerk measured at that time. The jerk is calculated based on position data of the drive shaft detected by an angle sensor attached to a servo motor that drives each drive shaft. The position of the drive shaft detected by the angle sensor is output in association with the acquisition time. The jerk is determined by third-order differentiation of the drive shaft position with respect to time.

  The jerk may be an actual measurement value obtained by operating the actual robot 2, or may be obtained by using a simulation executed in the virtual space 8 as shown in FIG. The operation of the robot 2 specified by the test robot program includes a predetermined operation of the robot 2 assuming a transfer process. Various conditions may be imposed assuming actual operation. Further, the robot program for testing needs to prevent the robot 2 from generating vibrations that can cause damage or dropping of the object. The allowable value setting unit 11 sets the maximum value of jerk acquired as a result of executing the test robot program as an allowable value.

  The axis information calculation unit 12 calculates the position and jerk of each drive axis in association with time when the operation of the robot 2 is simulated in the virtual space. Jerk is calculated by third order differentiation of position data with respect to time.

  The jerk determination unit 13 determines whether the jerk of each drive shaft calculated by the axis information calculation unit 12 has exceeded the allowable value set by the allowable value setting unit 11. The determination result by the jerk determination unit 13 is output to the axis information identification unit 14. Hereinafter, the jerk exceeding the allowable value may be referred to as “excess jerk” for convenience.

  The axis information specifying unit 14 specifies the drive shaft where the excess jerk has occurred and the position of the drive shaft when the jerk determining unit 13 determines that the excess jerk has occurred. Excess jerk can occur on multiple drive shafts. In addition, excess jerk may occur multiple times on the same drive shaft. The axis information specifying unit 14 specifies the drive shafts and the positions of the drive shafts corresponding to all excess jerks.

  The robot program adjustment unit 15 adjusts the robot program so as to reduce the drive shaft jerk so that the drive shaft jerk is below an allowable value. Specifically, the robot program adjustment unit 15 changes the teaching point in the vicinity of the position of the drive shaft corresponding to the excess jerk specified by the axis information specifying unit 14.

  With reference to the flowchart shown in FIG. 4, steps executed by the robot program generation device 10 will be described. First, in step S401, the allowable value setting unit 11 sets an allowable value for jerk.

  In step S402, the robot program generation device 10 executes a simulation of the robot program. The simulation is executed by arranging a three-dimensional model of components of the robot system 1 prepared in advance, for example, the robot model 2M and the object model 3M in the virtual space 8.

  In step S403, based on the simulation result of the operation program, the axis information calculation unit 12 calculates the position of each drive axis of the robot 2 in association with time, and at the time of jerk from the position and time of these drive axes. Calculate series data.

  In step S404, the jerk determination unit 13 determines whether the drive shaft jerk acquired in step S403 has exceeded the allowable value set in step S401. If the determination in step S404 is negative for the jerks on all the drive shafts, the jerk is sufficiently small and no significant vibration occurs in the robot 2, and the process ends.

  On the other hand, if the determination in step S404 is affirmative, that is, if at least one section in which excess jerk has occurred is detected, the process proceeds to step S405, and the drive shaft and drive shaft in which excess jerk has been generated by the axis information identification unit Specify the position of.

  FIG. 5 shows the teaching points PA, PB, PC located in the vicinity of the section where the excess jerk occurs, and the operation path Q created according to the teaching points PA, PB, PC. In FIG. 5, two black circles indicate the start point Q (t1) and the end point Q (t2) of the section where excess jerk occurs. “T1” and “t2” are times corresponding to the start point and the end point of the excess jerk occurrence section, respectively. White squares indicate teaching points located in the vicinity of the excess jerk generation section among teaching points for the robot specified by the robot program. The teaching points specified by the robot program are a set of points including P1, P2, P3,... PA, PB, PC,... Pn (n: natural number). When the robot program is executed, predetermined interpolation processing is executed for these teaching points, and an operation path Q is obtained.

  In step S406, the robot program adjustment unit 15 changes the teaching point in the vicinity of the position of the drive shaft where the excess jerk has occurred. For example, in the example shown in FIG. 5, the teaching points PB and PC located in the vicinity of the excess jerk generation section defined by the start point Q (t1) and the end point Q (t2) are changed. A specific mode for changing the teaching points PB and PC will be described later.

  When the modification of the robot program is completed, the process returns to step S402, and the operation of the robot 2 is simulated according to the adjusted robot program including the teaching point changed in step S406.

  Next, with reference to FIG. 6 to FIG. 8, a mode in which the robot program adjustment unit 15 changes the teaching point of the robot program in step S <b> 406 will be described.

  As described above, the robot program adjustment unit 15 changes the teaching point in the vicinity of the section where the excess jerk occurs. In one embodiment, the teaching point is changed within a cylindrical space having the operation path Q as a central axis. For example, in the example shown in FIG. 6, the cylindrical space TS has the operation path Q as the central axis, and the operation path Q in the section where the excess jerk has occurred, that is, the start point Q (t1) along the operation path Q And a radius equal to the distance between the end point Q (t2).

  The robot program adjusting unit 15 determines the changed teaching points PB ′ and PC ′ within such a cylindrical space TS (see FIG. 6). In this case, the teaching points of the robot program generated by the robot program generating device 10 are P1, P2, P3,... PA, PB ′, PC ′. An operation path Q ′ indicated by a dotted line in FIG.

  In an embodiment, as shown in FIG. 7, teaching point candidates may be obtained by dividing the cylindrical space TS into a lattice shape. In this case, the teaching points PB ′ and PC ′ after the change of the teaching points PB and PC are selected from a finite number of lattice points set in the cylindrical space TS.

  In one embodiment, the robot program adjustment unit 15 acquires the changed teaching point according to the following process. First, from the time series data of jerk acquired in step S403 of FIG. 4, the time series data of jerk corresponding to the section where excess jerk occurs is specified. Based on the identified time series data of jerk, new time series data of jerk is created so that the amount of change of jerk with respect to time becomes small. At this time, the rotation amount of the drive shaft obtained from the time series data of the new jerk is made to substantially match the rotation amount of the drive shaft obtained from the time series data of the original jerk. In the present embodiment, the robot program adjustment unit 15 changes the teaching point based on new jerk time-series data in which the amount of time change in jerk is reduced.

  FIG. 8 shows an operation path Q ′ before the teaching point is changed and an operation path Q ′ formed based on new jerk time-series data. Q ′ (t1) represents the position on the motion path Q ′ at time t1 corresponding to the start point Q (t1) of the excess jerk occurrence section in the robot program before the change. Further, Q ′ (t2) represents a position on the operation path Q ′ at time t2 corresponding to the end point Q (t2) of the excess jerk occurrence section. According to the example shown in FIG. 8, the robot program adjustment unit 15 uses the teaching points PB and PC of the robot program near the start point Q (t1) and the end point Q (t2) as Q ′ on the operation path Q ′. The teaching points PB ′ and PC ′ are changed to coincide with (t1) and Q ′ (t2), respectively. The motion path formed according to the teaching points including the changed teaching points PB ′ and PC ′ depends on the servo control and interpolation processing inherent to the robot, and may not coincide with the illustrated motion path Q ′. . However, since the operation path formed in accordance with the changed teaching point approximates the operation path Q 'in which the amount of time change of the jerk is reduced, the effect of reducing jerk will be obtained.

  In one embodiment, the robot program generation device 10 ends the adjustment of the robot program if an excessive jerk still occurs after the teaching point change by the robot program adjustment unit 15 is repeatedly performed a predetermined number of times. Composed. If the excess jerk is not resolved even after repeated teaching point changes, it may be reasonable for the operator to review the setting contents other than the teaching point to reduce the excess jerk.

  When a plurality of excess jerk occurrence sections are detected, processing for changing teaching points of the robot program is executed so as to reduce jerk in each excess jerk occurrence section.

The robot program generation device 10 according to the above-described embodiment has the following advantages.
(1) The teaching point for the robot is adjusted by the robot program adjusting unit 15 so that the jerk is below the allowable value. Thereby, it becomes possible to prevent the vibration of the robot that occurs when the jerk of the drive shaft is large.

  (2) According to the robot program generation device 10, the robot program can be automatically adjusted when an excess jerk is predicted to occur. Thereby, jerk can be reduced without imposing a burden of trial and error on the operator.

  (3) According to the robot program generation device 10, it is possible to reduce jerk by changing teaching points for the robot that operates the robot. That is, it is possible to provide a method for reducing jerk that does not depend on the specifications of the robot. For example, parameters or interpolation processing is determined according to different specifications depending on the manufacturer of the robot. Therefore, in a robot system having a plurality of robots with different manufacturers, it is sufficient to adjust the parameters or interpolation processing using the same method. Jerk reduction effect may not be obtained. On the other hand, since the robot program generation device 10 changes the teaching point for the robot, a jerk reduction effect that does not depend on the specifications of the robot can be obtained.

  (4) If the changed teaching point is selected in the cylindrical space TS formed along the operation path Q, the teaching point can be changed efficiently.

  (5) If the changed teaching point is selected from the lattice points formed by dividing the cylindrical space TS into a lattice shape, the teaching point can be selected from a finite number of candidates. Changes can be performed efficiently.

  FIG. 9 is a functional block diagram of a robot program generation device 10 according to another embodiment. The robot program generation device 10 according to the present embodiment further includes an interference determination unit 16 in addition to the configuration described with reference to FIG.

  The interference determination unit 16 determines whether or not the robot model 2M interferes with surrounding objects (for example, the object model 3M and the container model 4M) when simulating the operation of the robot 2 in the virtual space 8.

  In the robot program generation device 10 according to the present embodiment, the robot program adjustment unit 15 changes the teaching point of the robot program so that the robot does not interfere with surrounding objects. Therefore, the robot program generation device 10 according to the present embodiment can generate a robot program in which the jerk of the drive shaft falls below the allowable value and the robot system 1 does not cause interference.

  With reference to FIG. 10, an example of a teaching point changing method when interference occurs in the robot system 1 will be described. When interference occurs in the virtual space 8, the robot 2M and the interferer model 9M are in contact at at least one point, or the robot model 2M and the interferer model 9M overlap each other in a three-dimensional space. . FIG. 10 shows a state where the robot model 2M and the interferer model 9M overlap each other. As shown in FIG. 10, the position of the center of mass of the portion where the robot model 2M and the interferer model 9M overlap is defined as K1. When the robot model 2M and the interferer model are in contact with each other at a point, the position of the contact point may be set to K1.

  The position of the center of mass of the robot model 2M (three-dimensional model of the hand of the robot 2) is K2, and the center of mass of the interferer is K3. A unit vector in the direction from K1 to K2 is denoted by V1, and a unit vector in the direction from K3 to K2 is denoted by V2. The average of the vectors V1 and V2 is V3. When the interference determination unit 16 determines that the interference has occurred, the robot program adjustment unit 15 changes the teaching point Pm at which the interference has occurred to a change teaching point Pm ′ at a position separated by a predetermined distance in the direction of the vector V3. To do. In this way, the robot program generation device 10 can generate a robot program adjusted so that the robot 2 does not interfere with surrounding objects.

  FIG. 11 is a functional block diagram of a robot program generation device 10 according to another embodiment. The robot program generation device 10 according to the present embodiment further includes an operation time calculation unit 17 in addition to the configuration described with reference to FIG. The operation time calculation unit 17 calculates the time required to execute the robot program. The robot program generation device 10 according to the present embodiment generates a robot program having the shortest time required for execution among an arbitrary number of robot programs.

  For example, a robot program (referred to as “first robot program” for convenience) including a teaching point (referred to as “first changed teaching point” for convenience) changed so as to reduce jerk according to the embodiment described above. Based on the above, an arbitrary number different from the first robot program, for example, two robot programs are generated. That is, three types of robot programs having different teaching points are created once. Then, based on the calculation result of the operation time calculation unit 17, the robot program generation device 10 selects and generates a robot program having the shortest required time among the three types of robot programs.

  With reference to FIG. 12, an example of a method for obtaining the teaching points of the second robot program and the third robot program from the teaching points of the first robot program will be described. As shown in FIG. 12, the extension from the start point Q (t1) of the excess jerk generation section before the teaching point is changed to the position Q ′ (t1) at the time t1 of the motion path formed according to the first robot program. It is assumed that the existing vector V1. A vector obtained by rotating the vector V1 by the angle α around the start point Q (t1) on the plane PL orthogonal to the operation path Q before the change is denoted by V2, and a vector rotated by the angle −α is denoted by V3. .

  In the second robot program, the teaching point PB (see FIG. 5) is changed to the teaching point PB2 at a position moved from the start point Q (t1) by the vector V2. Further, the teaching point PC (see FIG. 5) is changed to the teaching point PC2 at a position moved by the vector V2 from the end point Q (t2) (see FIG. 5) of the excess jerk generation section. Thereby, the teaching points designated by the second robot program are P1, P2, P3,... PA, PB2, PC2,.

  In the third robot program, the teaching point PB (see FIG. 5) is changed to the teaching point PB3 at a position moved by the vector V3 from the starting point Q (t1). Further, the teaching point PC (see FIG. 5) is changed to the teaching point PC3 at a position moved by the vector V3 from the end point Q (t2) (see FIG. 5) of the excess jerk generation section. Thereby, the teaching points designated by the third robot program are P1, P2, P3,... PA, PB3, PC3,.

  When the jerk generated when the first to third robot programs are executed is less than the allowable value, the robot program generation device 10 according to the present embodiment includes the first robot program, the second robot program, and the first robot program. Of the three robot programs, a robot program having the shortest time required for execution is selectively generated.

  FIG. 13 is a functional block diagram of a robot program generation device 10 according to another embodiment. The robot program generation device 10 according to the present embodiment further includes an update determination unit 18 and a program transmission unit 19 in addition to the configuration described with reference to FIG. The update determination unit 18 determines whether or not the robot 2 (see FIG. 1) can update the robot program. The program transmission unit 19 transmits the robot program generated by the robot program generation device 10 to the robot 2 in response to, for example, an operation on the teaching operation panel.

  FIG. 14 is a flowchart showing a process of updating the robot program according to the present embodiment. The process starts when a robot program is generated by the robot program generation device 10. In step S1401, the robot program generation device 10 (computer 5) notifies the robot 2 that a robot program has been generated.

  In step S1402, the update determination unit 18 determines whether or not the robot 2 permits updating of the robot program. For example, when the robot 2 performs an operation unrelated to the robot program generated by the robot program generation device 10, the robot program for the robot 2 can be updated. If the determination in step S1402 is negative, the process proceeds to step S1403, and the determination in step S1402 is executed at a predetermined control cycle.

  If the determination in step 1402 is affirmed, the process proceeds to step S1403, and the program transmission unit 19 transmits the robot program generated by the robot program generation device 10 to the robot 2. Thereby, the robot 2 can execute a predetermined operation according to the robot program in which the teaching point is changed so that jerk is reduced.

  The robot program generation device 10 according to the present embodiment makes it possible to update the robot program according to the situation without temporarily stopping the operation of the robot 2. Thereby, work efficiency can be improved.

  Although various embodiments of the present invention have been described above, those skilled in the art will recognize that the functions and effects intended by the present invention can be realized by other embodiments. In particular, the components of the above-described embodiments can be deleted or replaced without departing from the scope of the present invention, or known means can be further added. It is obvious to those skilled in the art that the present invention can be implemented by arbitrarily combining features of a plurality of embodiments explicitly or implicitly disclosed in the present specification.

DESCRIPTION OF SYMBOLS 1 Robot system 2 Robot 2M Robot model 3 Object 3M Object model 4 Container 4M Container model 5 Computer 6 Monitor 7 Hand 8 Virtual space 9M Interference object model 10 Robot program generator 11 Permissible value setting part 12 Axis information calculation part 13 Jerk Determination unit 14 Axis information identification unit 15 Robot program adjustment unit 16 Interference determination unit 17 Operation time calculation unit 18 Update determination unit 19 Program transmission unit

Claims (6)

A robot program generation device for generating a robot program for operating a robot having a plurality of joints,
An allowable value setting unit for setting an allowable value of jerk for the drive axis of each joint of the robot;
An axis information calculator that simulates the execution of a robot program in a virtual space and calculates the position and jerk of the drive axis in association with time;
A jerk determination unit that determines whether or not the jerk calculated by the axis information calculation unit is an excess jerk exceeding the allowable value;
An axis information specifying unit for specifying the drive shaft where the excess jerk has occurred and the position of the drive shaft;
The robot program is adjusted by changing the teaching point in the vicinity of the position of the drive shaft where the excess jerk occurs so that the jerk of the drive shaft specified by the axis information specifying unit is less than or equal to the allowable value. And a robot program adjustment unit.   The robot program adjustment unit is configured to match the lattice point with the smallest jerk among lattice points formed by dividing the space in the vicinity of the position of the drive shaft where the excess jerk has occurred into a lattice shape. The robot program generation device according to claim 1, wherein the teaching point is changed.   The robot program generation device according to claim 1, wherein the robot program adjustment unit changes the teaching point so as to reduce a change amount of jerk with respect to time in the drive shaft where the excess jerk has occurred. The robot further includes an interference determination unit that arranges the robot and a three-dimensional model of an object existing around the robot in the virtual space, and determines whether or not the robot and the object interfere with each other during the simulation. And
4. The robot program generation device according to claim 1, wherein the robot program adjustment unit changes the teaching point so that interference between the robot and the object does not occur. 5. An operation time calculation unit for calculating an operation time required to execute the robot program;
5. The robot program generation device according to claim 1, wherein the robot program adjustment unit changes the teaching point so that the operation time is shortened. 6. An update determination unit for determining whether or not the robot program can be updated in the robot;
A program transmission unit that transmits the robot program generated by the robot program generation device to the robot;
The robot program according to any one of claims 1 to 5, wherein the program transmission unit transmits the robot program to the robot when the update determination unit determines that the robot program can be updated. Generator.

Images